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WO2018189249A1 - Procédé et dispositif pour la mesure de mouvements des pales de rotor d'un engin volant - Google Patents

Procédé et dispositif pour la mesure de mouvements des pales de rotor d'un engin volant Download PDF

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Publication number
WO2018189249A1
WO2018189249A1 PCT/EP2018/059305 EP2018059305W WO2018189249A1 WO 2018189249 A1 WO2018189249 A1 WO 2018189249A1 EP 2018059305 W EP2018059305 W EP 2018059305W WO 2018189249 A1 WO2018189249 A1 WO 2018189249A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor blade
rotor
measured
measuring
blade
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/059305
Other languages
German (de)
English (en)
Inventor
Andreas Voigt
Florian KNAAK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Original Assignee
Deutsches Zentrum fuer Luft und Raumfahrt eV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsches Zentrum fuer Luft und Raumfahrt eV filed Critical Deutsches Zentrum fuer Luft und Raumfahrt eV
Publication of WO2018189249A1 publication Critical patent/WO2018189249A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/008—Rotors tracking or balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G01B11/165—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by means of a grating deformed by the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0016—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of aircraft wings or blades

Definitions

  • the present invention relates to a method and apparatus for measuring rotor blade or propeller blade movements of aircraft, such as helicopters with various rotor configurations, gyroplanes or slowly rotating propellers, over the entire rotor rotation in flight.
  • a rotor is understood as any rotating element rotating about an axis of rotation and equipped with one or more blades, such as e.g. a rotor of a helicopter, gyroplane or similar aircraft, or a propeller of an aircraft.
  • the term "rotor blade” covers rotor blades of every kind, in particular also propeller blades.
  • the object of the invention is therefore to provide an improved method and an improved device for measuring rotor blade movements. Furthermore, to develop a method especially for multiple rotors with significant overlap and small space on the rotor.
  • the measuring device has a camera arranged co-moving with the rotor blade. This makes it possible to 360 ° of Rotorazi- muts, i. To record a permanent all-round observation in all rotational angular positions, with low overall height.
  • the rotor blade movements which can be measured according to the invention include in particular rotor blade deformations during operation of the rotor blade by air forces acting on the rotor blade.
  • the method for measuring rotor blade movements accordingly provides that an image acquisition unit (eg camera) moves together with the rotor blade to be measured and records images of the rotor blade during rotor movement, and that the sequence of images is evaluated with regard to characteristic features and a determination of the rotor blade movement in dependence on the displacement of the characteristic markings is carried out relative to the moving image recording unit or a reference point of the rotor blade.
  • an image acquisition unit eg camera
  • Such additional markings should, given the small angle of the camera relative to the rotor blade surface, result in the highest possible color contrast and / or light-darkening Contrast be formed. They should preferably be applied to the underside of the rotor blade.
  • the markings may be, for example, perpendicular projecting from the plane of the rotor blade elements.
  • These markings can be adjusted in number and size for higher measurement accuracy.
  • the original rotor blades can be measured without changing them - except for the optional application of markings - structurally and structurally.
  • the mechanical and flight mechanical properties of the rotor blades or of the aircraft changes only slightly due to the additional attachments and can generally be neglected. Any type of rotors or propellers can be measured.
  • the co-rotating with the rotor blade to be measured camera preferably has a viewing angle of less than 10 ° to the rotor blade plane.
  • the optional markers should then be substantially perpendicular to the rotor blade. They are preferably arranged on the rotor blade edge (front edge and / or rear edge).
  • the camera is preferably fastened to the rotor head, on which the rotor blades are optionally articulated via a joint driven by the swashplate.
  • Each rotor blade to be observed may have its own camera aligned with the associated rotor blade.
  • the camera moves relatively little. Therefore, the requirements for the exposure time or the "shutter" are much lower than for non-rotating cameras, which film the rotor blade at a relatively steep viewing angle.
  • FIG. 1 shows a sketch of a revolving rotor blade with a moving camera
  • Figure 2 perspective view of a rotor blade with markers and moving camera on the rotor head
  • FIG. 5 shows a sketch of the synchronization with an azimuth marking point
  • FIG. 6 shows a sketch of part of the rotor head with associated measured variables
  • FIG. 7 shows coordinate transformations of image coordinates to camera coordinates and of camera coordinates to rotor blade coordinates
  • FIG. 8 shows a sketch of the calculation variables of the rotor blade deformation.
  • FIG. 1 shows a sketch of a device 1 for measuring rotor blade movements of a rotor blade 2, which is rotatably arranged on a rotor head 3.
  • the rotor head 3 is symbolized by the center of rotation of the axis of rotation.
  • An image pickup unit 4 in the form of a camera is arranged to be movable relative to the rotor blade 2 to be measured.
  • the image recording unit 4 may be attached to the rotor head 4, for example. It is aligned with the rotor blade 2 to be measured at a viewing angle of less than 10 ° to the longitudinal axis of the rotor blade 2, which intersects the center of rotation of the rotor head 4.
  • markers 5 are arranged on the rotor blade 2 . Over the length of the rotor blade 2 more markers can be arranged at a distance from each other. In this way, twists, twisting and other vibration movements during the rotation of the rotor blade during the angular movement ⁇ rotor can be determined by analyzing the movements of the markers 5 in the sequence of images taken with the image recording unit 4 of the rotor blade 2 together with its markers 5.
  • an evaluation unit 6 is connected or connectable to the image recording unit 2.
  • the images of the image recording unit can also be temporarily stored in a storage medium and later transferred to a separate evaluation unit 6.
  • the evaluation unit 6 may be a suitably programmed computer.
  • FIG. 2 shows a perspective view of the rotor blade 2 with the image recording unit 4 arranged co-rotating on the rotor head 3. It becomes clear that this is light (0-10 ° and preferably approximately 5 ° + -2 °) on the underside of the rotor blade 2 is aligned.
  • the markers 5 project vertically downwards from the underside of the rotor blade 2 to be measured.
  • markers 5 may also be arranged on the front and / or rear end edge of the rotor blade.
  • a high-speed camera is attached to the rotor head 3 or the rotor blade holder as an image recording unit 4.
  • the rotor blades 2 are equipped with optical markers 5.
  • Another marker may be present in the non-rotating system for azimuthal assignment. This can be realized with a laser that illuminates the rotor blade 2.
  • Rotor blade motion is determined by a camera (such as the GoPro Hero 4 Black Edition model) over the entire rotor azimuth and most of the radius of the rotor blade being tested (i.e., its extension length).
  • a camera such as the GoPro Hero 4 Black Edition model
  • the device can be used to examine Flettner twin rotors. From the determined rotor blade movement data, a calculation of the aerodynamic forces can be carried out by solving suitable differential equations.
  • the axis assignment for a rotor blade is outlined in FIG.
  • the rotor blades are long, straight and slim. They consist of a homogeneous and isotropic material and have a symmetrical blade profile. There are only moderate shifts. The distortion function can be neglected. The shift in the y-direction is zero, i. there is no shift. By the way, an approximate solution for the displacement in the x-direction is considered. The determined rotor blade movement is valid only in the marked area of the rotor blade.
  • the shear center, area centroid, area moment of inertia, mass distribution, center of mass, and lag angle are known.
  • the evaluation of the image data can be done eg with Matlab.
  • a "Circle Hough Transformation” is suitable, and then a transformation can take place the image coordinates and the rotor blade coordinates are performed. This is followed by a calculation of the displacements, a determination of the displacement functions and the solving of the differential equations.
  • the movements or forces are assigned to the flight data, a consideration of the rotor speed and the videos recorded with the at least one camera, an assignment of the movements or the forces to the rotor azimuth and the consideration of an azimuth marking point in the non-rotating system for detecting the rotation angle or the rotor blade revolutions.
  • FIGS. 6 to 8 show the same relationships as FIG. 4, but divided into three individual illustrations.
  • FIG. 6 shows a side view of the parts of the rotor head 3 which are essential for the explanation of the invention. Shown is a gear unit 7 of the rotor, which is coupled via a rotor mast 8 to a central attachment 10 of the rotor head 3. The rotor blades 2 are coupled via blade holder 1 1 with the central attachment 10. On the rotor mast 8, a measuring element 9 for detecting the bending of the rotor mast 8 is arranged, e.g. in the form of a strain gauge. On the rotor blade 2, a further measuring element 13 for detecting a bend in the leaf root area of the rotor blade 2 is arranged. The further measuring element 13 may, for example, also be designed as strain gauges.
  • Reference numeral 12 denotes the attachment position of the image acquisition unit 4. Furthermore, it can be seen that a plurality of markers 5 are arranged on the rotor blade 2.
  • FIG. 6 also reveals various geometric parameters which have the following meaning:
  • the bending angle .beta.B is determined by the method described below with evaluation of the images of the image recording unit 4.
  • the image pickup unit 4 is to be arranged at the position 12, thus at the sheet holder 11.
  • a marker 5 is used as a reference marker for determining a reference azimuth position.
  • the rotor blades 2 can, for example, each be equipped with five pairs of markers 5.
  • the measuring elements 9, 13 are used to determine the bending of the rotor mast 8 and the blade holder 1 1.
  • the bending angle ⁇ BG is determined indirectly on the basis of the measurement results of the measuring element 13.
  • These measurements with the measuring elements 9, 13 are calibrated in order additionally to determine the lateral offset ⁇ on the rotor head 3, the elastic pole bending angle ⁇ ivi and the elastic bending angle ⁇ BG of the blade holder 11.
  • the resolution of the image capture unit 4, eg a camera, can be 1280 * 720 pixels at a frame rate of 240 fps (frames per second). At such a capture rate, approximately 15 images per revolution of the rotor become nominal Rotor speed recorded.
  • the shutter mechanism of commercially available cameras is sufficient for such an application since the relative movement of the rotor blade is sufficiently slow that no image disturbances are generated.
  • one or more of the aforementioned evaluation methods can be used, eg the "Circle Hough Transformation.”
  • the positions of the markers 5 are determined. Right. If an absolute determination of the rotor blade movement is to be carried out, the reference positions of the markers 5 can initially be determined if the rotor blade has no deformation, for example when the rotor rotates and the rotor blades 2 are loaded neutrally. For such a determination of the reference positions, adjustments should be made the rotor blades, such as cyclic and collective adjustments can be avoided.
  • FIG. 7 shows the variables used for this purpose in a rotor blade coordinate system 14, a camera coordinate system 15 and an image coordinate system 16.
  • a transformation from the image coordinate system 16 with the coordinates n, m into the camera Coordinate system 15 with the coordinates Xc, y c , z c performed.
  • an intrinsic parameter matrix Mint of the image acquisition unit 4 is used, which is determined in advance by calibration measurements with the image acquisition unit 4. With the known positions m, n of the markers 5 in the image coordinate system 16, the solution can be determined as follows:
  • a rotation of the coordinates is carried out together with a displacement:
  • Both the aforementioned rotation matrix Mrot and the shift vector can by means of a CAD model of the rotor taking into account the parameters the attachment of the image pickup unit 4 can be determined. Another possibility is the calculation of the displacement vector due to a calibration, as described above.
  • the process of coordinate transformation is additionally shown in FIG.
  • the rotor blade profile is shown in a neutral line in the neutral bending state, and with dotted line the rotor blade profile under load when a rotor blade movement or -verbiegung occurs.
  • the reference numeral 17 indicates the neutral point of the profile (shear center).
  • the quantity dLE designates the center position of the marker 5 arranged at the front on the rotor blade 2 relative to the neutral point 17.
  • the size dTE denotes the center position of the marker 5 mounted on the rotor blade at the rear relative to the neutral point 17.
  • a reference torsion angle is determined in a corresponding manner from the reference positions of the markers 5.
  • the final torsion angle to be determined is corrected with the torsion angle of a pair of markers 5 in their reference position, as follows:
  • the front and back markers 5 are used to determine a horizontal neutral point shift vscmeas and a vertical shift xscmeas. Accordingly, the offset of the neutral point is determined using the positions of the front and back markers 5 as follows:
  • an azimuth position can also be determined on the basis of each image. There are several ways to determine the azimuth position:
  • the method has the following results in the experimental experiment with validation:
  • the absolute error is related to the rotor radius.
  • IBDM 0.1 1 to 1, 2 0.045 to 0.26 The movement of the camera is negligible as a cause of measurement deviations if this has been checked.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un dispositif (1) pour la mesure de mouvements des pales de rotor d'un engin volant durant la totalité de la rotation de rotor en vol, comprenant au moins une pale de rotor (2) disposée de façon rotative et une unité de prise d'image (4) pour la prise d'images de la pale de rotor (2) à mesurer, caractérisé en ce que l'unité de prise d'image (4) est disposée de façon à pouvoir se déplacer avec la pale de rotor (2) à mesurer. L'invention concerne en outre un procédé pour la mesure de mouvements des pales de rotor, caractérisé par - la prise d'images de la pale de rotor (2), une unite de prise d'image (4) se déplaçant avec la pale de rotor (2) à mesurer, et - l'évaluation d'une suite d'images enregistrées de la pale de rotor (2) en termes de caractéristiques et - la détermination du mouvement de la pale de rotor en fonction du déplacement des caractéristiques par rapport à l'unité de prise d'image (4) se déplaçant avec cette dernière ou à un point de référence de la pale de rotor (2).
PCT/EP2018/059305 2017-04-12 2018-04-11 Procédé et dispositif pour la mesure de mouvements des pales de rotor d'un engin volant Ceased WO2018189249A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102017107940.8 2017-04-12
DE102017107940 2017-04-12
DE102018101689.1 2018-01-25
DE102018101689.1A DE102018101689A1 (de) 2017-04-12 2018-01-25 Verfahren und eine Vorrichtung zur Messung von Rotorblattbewegungen eines Fluggerätes

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WO2018189249A1 true WO2018189249A1 (fr) 2018-10-18

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DE (1) DE102018101689A1 (fr)
WO (1) WO2018189249A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112781516A (zh) * 2020-12-29 2021-05-11 中国航空工业集团公司西安飞机设计研究所 一种高速旋翼动态挠度测量装置
CN113492997A (zh) * 2020-03-19 2021-10-12 北京京东乾石科技有限公司 用于单旋翼的升力与扭矩测量装置和测量方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111121701B (zh) * 2019-12-05 2021-03-23 东南大学 一种用于发电机抽穿转子安全状态评估的方法
US11643194B2 (en) * 2019-12-17 2023-05-09 The Boeing Company System and method for dynamically measuring blade position during flight of a rotorcraft

Citations (5)

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Publication number Priority date Publication date Assignee Title
US20100178167A1 (en) * 2009-01-13 2010-07-15 Eurocopter Deutschland Gmbh Method and device for controlling a rotary wing aircraft
DE102009059823A1 (de) * 2009-12-21 2011-04-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Marker zur Bestimmung der Orientierung eines Objektes in einem Bild
DE102010017749A1 (de) * 2010-07-05 2012-01-05 Ssb Wind Systems Gmbh & Co. Kg Vorrichtung zur optischen Messung der Biegung eines Rotorblatts einer Windkraftanlage
DE102011054535B3 (de) * 2011-10-17 2013-03-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Messung der Wandschubspannung an rotierenden Propellern
US20160305769A1 (en) * 2015-04-15 2016-10-20 General Electric Company Systems and methods for monitoring turbine component strain

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100178167A1 (en) * 2009-01-13 2010-07-15 Eurocopter Deutschland Gmbh Method and device for controlling a rotary wing aircraft
DE102009059823A1 (de) * 2009-12-21 2011-04-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Marker zur Bestimmung der Orientierung eines Objektes in einem Bild
DE102010017749A1 (de) * 2010-07-05 2012-01-05 Ssb Wind Systems Gmbh & Co. Kg Vorrichtung zur optischen Messung der Biegung eines Rotorblatts einer Windkraftanlage
DE102011054535B3 (de) * 2011-10-17 2013-03-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren und Vorrichtung zur Messung der Wandschubspannung an rotierenden Propellern
US20160305769A1 (en) * 2015-04-15 2016-10-20 General Electric Company Systems and methods for monitoring turbine component strain

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HODGES, D. H.; DOWELL, E. H.: "Nonlinear Equations of Motion for the Elastic Bending and Torsion of Twisted Nonuniform Rotor Blades", NASA TN D-7818, 1974

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113492997A (zh) * 2020-03-19 2021-10-12 北京京东乾石科技有限公司 用于单旋翼的升力与扭矩测量装置和测量方法
CN113492997B (zh) * 2020-03-19 2023-06-23 北京京东乾石科技有限公司 用于单旋翼的升力与扭矩测量装置和测量方法
CN112781516A (zh) * 2020-12-29 2021-05-11 中国航空工业集团公司西安飞机设计研究所 一种高速旋翼动态挠度测量装置

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